Garratt.info

I've had the pleasure of working with a number of robots over the years.

Some have done great things, some haven't. Some were build entirely by me, some I only modified, or wrote code for. But regardless of what we did together, I am happy to have been able to work with them. I guess that is why I am a Roboticist.

HERB (Home Exploring Robotic Butler) is an Intel-funded research robot. Herb has a segway base and a Barret WAM Arm, plus some cameras and a lidar for sensors. I focused on Herb's base, working on navigation, mapping and perception. The majority of my Masters work at CMU was run on HERB.

I built this robot as part of a competition for students in the Robotics Institute. The robot's mission was to build a bridge by moving a block from one location and dropping it in a gap. The competition was lots of fun, and we made some cool robots.

RoboMaid was an example project of what someone could do with an iRobot Create. I constructed the arm from a kit, built a custom control circuit, and programmed all the behaviors into the Atmel ATMega168 that came with the Create's command module.

I built the electronics for this robot and programmed it for the Micromouse competition. The objective was to navigate to the center of an unknown maze. This robot succeeded, but was unfortunately too slow to win any awards. This robot marked my first venture into printed board design.

Explorobot was a simple robot, one of the first steps I made as a budding electrical engineer. Explorobot was the robot that convinced me that robotics was what I wanted to do. It also marked the time when I started automating every machine I could get my hands on.